基于观测优化的双机协同控制与避障

Cooperative control and collision avoidance for two UAVs based on optimization of observation

为实现不确定环境下无人机对远程超视距目标的精确指示,考虑空中移动和静止障碍物,提出基于观测优化的双机协同控制与避障算法,从而增加测量信息,减小目标状态估计的不确定度.以费舍尔信息矩阵(FIM)表征所获取的目标信息,理论推导出三维空间中双机最优观测的指标函数,并设计无人机协同控制律,得到优化的无人机观测航迹,增强无人机协同估计目标位置的能力.采用基于相对速度空间的避障算法,同时考虑转弯角速度和传感器探测距离限制的因素,提出保持观测优化的避碰策略,并设计避障控制律,实现对静止和移动障碍物的规避.最后,通过仿真实验验证所提控制方法的有效性和实用性,仿真结果表明,所提出的控制算法能够引导无人机处于优化的观测位置,同时完成对移动和静止障碍物的规避.

To realize the accurate indication of the over-the-horizon target by UAVs in an uncertain environment with movement and static obstacles,a cooperative control algorithm is proposed for two UAVs based on optimization of observation,to increase measurement information and reduce the uncertainty of target state estimation.The cooperative control algorithm is designed to obtain optimized tracking of UAVs and enhance the ability of cooperative estimation to the target position according to the index function of optimal observation by two UAVs in three-dimensional space which is deduced theoretically based on the Fisher information matrix(FIM)that represents obtained information of the target.A collision avoidance strategy is proposed to keep optimization of observation based on the relative velocity space with considering the limitations of the turning angle rate and the sensor detection distance,and the obstacle avoidance control algorithm is designed to avoid static and moving obstacles.Simulation experiments verify the effectiveness and practicability of the proposed control method.The simulation results show that the control algorithm can guide the UAV to the optimal observation position,and at the same time complete the avoidance of moving and stationary obstacles.